Acceleration/deceleration control is performed on the basis of a designated jerk control such that a maximum absolute value Jmax of jerk value, which is differential value of acceleration, is made not larger than a predetermined value when a commanded quantity of servomotor movement is smaller than a minimum quantity Smin of motor movement which is required to allow the movement of the servomotor to reach a predetermined maximum velocity Vmax and a predetermined maximum acceleration Amax.
Legal claims defining the scope of protection, as filed with the USPTO.
1. In acceleration/deceleration control of changing acceleration continuously to thereby make acceleration or deceleration, a method of determining velocity and acceleration of a motor for generating an acceleration/deceleration/curve of the motor in the case where a commanded quantity of motor movement is smaller than a minimum quantity of motor movement which is required to allow the movement of said motor to reach a predetermined maximum velocity and a predetermined maximum acceleration, wherein said method comprises a step of determining a maximum velocity and a maximum acceleration for performing a designated jerk control in accordance with said commanded quantity of motor movement so as to make a maximum absolute value of jerk value which is differential value of acceleration, not larger than a predetermined value or equal to the predetermined value.
2. A method of determining velocity and acceleration of a motor according to claim 1 , wherein said designated jerk control is provided for performing positioning of a subject of control while suppressing vibration of said subject.
3. A method for generating an acceleration/deceleration curve of a motor, comprising a step of generating an acceleration/deceleration curve on the basis of the maximum velocity and the maximum acceleration obtained by the method of determining velocity and acceleration of a motor defined in claim 1 .
4. In acceleration/deceleration control of changing acceleration continuously to thereby make acceleration or deceleration, a method of determining velocity and acceleration of a motor for generating an acceleration/deceleration curve of the motor in the case where a commanded quantity of motor movement is smaller than a minimum quantity of motor movement which is required to allow the movement of said motor to reach a predetermined maximum velocity and a predetermined maximum acceleration, wherein said method comprises a step of determining a maximum velocity and a maximum acceleration by selecting and performing one of two processes in accordance with the commanded quantity of motor movement, said two processes consisting of processes of: newly determining a maximum velocity for performing a designated acceleration control in accordance with said command quantity of motor movement while adapting said predetermined maximum acceleration as a maximum acceleration for said control; and determining a maximum velocity and a maximum acceleration for performing a designated jerk control in accordance with said command quantity of motor movement so as to make a maximum absolute value of jerk value, which is differential value of acceleration, not larger than a predetermined value or equal to the predetermined value.
5. A method of determining velocity and acceleration of a motor according to claim 4 , wherein said predetermined value in said designated jerk control is the maximum absolute value of jerk value in said designated acceleration control at a switching point where the process is switched.
6. A method of determining velocity and acceleration of a motor according to claim 5 , wherein the maximum absolute value of jerk value at said switching point is specified on the basis of a maximum velocity which is required to obtain the commanded quantity of motor movement by said predetermined maximum acceleration and on the basis of said predetermined maximum acceleration.
7. A method of determining velocity and acceleration of a motor according to any one of claims 5 and 6 , wherein setting of said switching point can be changed at option by a user.
8. A method of determining velocity and acceleration of a motor according to claim 5 , wherein said switching point is designated by a nondimensional parameter.
9. A method of determining velocity and acceleration of a motor according to claim 8 , wherein said parameter is a ratio with respect to said minimum quantity of motor movement.
10. A method for performing acceleration/deceleration control of a motor to make said motor accelerated/decelerated by changing acceleration of said motor continuously, said method comprising a step of performing acceleration/deceleration control on the basis of a designated jerk control so as to make a maximum of an absolute value of jerk value, which is differential value of acceleration, not larger than a predetermined value or constantly equal to said predetermined value in the case where a commanded quantity of motor movement is smaller than a minimum quantity of motor movement which is required to allow the movement of said motor to reach a predetermined maximum velocity and a predetermined maximum acceleration.
11. A method for performing acceleration/deceleration control according to claim 10 , wherein said designated jerk control is provided for performing positioning of a subject control while suppressing vibration of said subject.
12. A method for performing acceleration/deceleration control of a motor to make said motor accelerated/decelerated by changing acceleration of said motor continuously, said method comprising a step of selecting and performing one of two control processes in accordance with a commanded quantity of motor movement in the case where the commanded quantity of motor movement is smaller than a minimum quantity of motor movement which is required to allow the movement of said motor to reach a predetermined maximum velocity and said predetermined maximum acceleration, said two control processes consisting of a designated acceleration control and a designated jerk control, said designated acceleration control controlling the motor so as to make a maximum acceleration in an accelerating/decelerating operation equal to the predetermined maximum acceleration, said designated jerk control controlling the motor so as to make a maximum absolute value of jerk value, which is differential value of acceleration not larger than or constantly equal to a predetermined value.
13. A method for performing acceleration/deceleration control according to claim 12 , wherein said predetermined value in said designated jerk control is the maximum absolute value of jerk value in said designated acceleration control at a switching point where the process is switched.
14. A method for performing acceleration/deceleration control according to claim 13 , wherein the maximum absolute value of jerk value at said switching point is specified on the basis of a maximum velocity which is required to obtain the commanded quantity of motor movement by said predetermined maximum acceleration and on the basis of said predetermined maximum acceleration.
15. A method for performing acceleration/deceleration control according to any one of claims 13 and 14 , wherein setting of said switching point can be changed at option by a user.
16. A method for performing acceleration/deceleration control according to claim 13 , wherein said switching point is designated by a nondimensional parameter.
17. A method for performing acceleration/deceleration control according to claim 16 , wherein said parameter is a ratio with respect to said minimum quantity of motor movement.
18. An acceleration/deceleration control apparatus for performing acceleration/deceleration control of a motor to make said motor accelerated/decelerated by changing acceleration of said motor continuously, said apparatus comprising: a velocity and acceleration determining means for determining a maximum velocity and a maximum acceleration for performing a designated jerk control so as to make a maximum absolute value of jerk value, which is differential value of acceleration, not larger than or constantly equal to a predetermined value, in the case where a commanded quantity of motor movement is smaller than a minimum quantity of motor movement which is required to allow the movement of said motor to reach a predetermined maximum velocity and a predetermined maximum acceleration; and a reference value generating means for generating and outputting a position reference value on the basis of said maximum velocity and maximum acceleration obtained by said velocity and acceleration determining means.
19. A acceleration/deceleration control apparatus according to claim 18 , wherein said designated jerk control is provided for performing positioning of a subject of control while suppressing vibration of said subject.
20. A motor control apparatus comprising means for receiving a position reference value supplied from the acceleration/deceleration control apparatus defined in claim 18 so as to control at least one motor in accordance with said position reference value.
21. An acceleration/deceleration control apparatus for performing acceleration/deceleration control of a motor to make said motor accelerated/decelerated by changing acceleration of said motor continuously, said apparatus comprising: a velocity and acceleration determining means for determining a maximum velocity and a maximum acceleration by selecting and performing one of two processes in accordance with a commanded quantity of motor movement in the case where the commanded quantity of motor movement is smaller than a minimum quantity of motor movement which is required to allow the movement of said motor to reach a predetermined maximum velocity and a predetermined maximum acceleration, said two processes consisting of a process for newly determining a maximum velocity for performing a designated acceleration control on the basis of the commanded quantity of motor movement so as to make a maximum acceleration in an accelerating/decelerating operation equal to the predetermined maximum acceleration, and another process for newly determining a maximum velocity and a maximum acceleration for performing a designated jerk control on the basis of the commanded quantity of motor movement so as to make a maximum absolute value of jerk value, which is differential value of acceleration, not larger than or constantly equal to a predetermined value; and a reference value generating means for generating and outputting a position reference value on the basis of said maximum velocity and maximum acceleration obtained by said velocity and acceleration determining means.
22. An acceleration/deceleration control apparatus according to claim 21 , wherein said predetermined value in said designated jerk control is the maximum absolute value of jerk value in said designated acceleration control at a switching point where the process is switched.
23. An acceleration/deceleration control apparatus according to claim 22 , wherein the maximum absolute value of jerk value at said switching point is specified on the basis of a maximum velocity which is required to obtain the commanded quantity of motor movement by said predetermined maximum acceleration and on the basis of said predetermined maximum acceleration.
24. An acceleration/deceleration control apparatus according to any one of claims 22 and 23 , further comprising a setting means for setting and changing said switching point.
25. An acceleration/deceleration control apparatus according to claim 22 , wherein said switching point is designated by a nondimensional parameter.
26. An acceleration/deceleration control apparatus according to claim 25 , wherein said parameter is a ratio with respect to said minimum quantity of motor movement.
27. A motion control method comprising: defining an acceleration curve at least partially characterized by an acceleration magnitude parameter, said acceleration magnitude parameter being a maximum operating peak value of said acceleration curve; defining a velocity curve at least partially characterized by a velocity magnitude parameter, said velocity magnitude parameter being a maximum operating peak value of said velocity curve; determining a minimum critical distance by setting said acceleration magnitude parameter equal to a predetermined maximum acceleration value, setting said velocity magnitude parameter equal to a predetermined maximum velocity value, and defining said minimum critical distance as twice the displacement distance required to reach the velocity of said velocity magnitude parameter along said velocity curve while being accelerated according to said acceleration curve; receiving displacement distance instructions including sufficient data for determining a target displacement distance; comparing said target displacement distance to said minimum critical distance; initiating a motion modification procedure when said target displacement distance is smaller than said minimum critical distance, said motion modification procedure including the execution of a jerk reduction sequence when said target displacement distance is less than a predefined triggering distance, said jerk reduction sequence including: a) identifying a maximum operating jerk value as the differential of said acceleration curve evaluated at the upper most limit of said triggering distance; b) modifying said acceleration curve by setting said acceleration magnitude parameter equal to a second peak acceleration value, said second peak acceleration value being selected such that the differentiation of said modified acceleration curve maintains a magnitude not larger than said maximum operating jerk value over said predefined triggering distance.
28. The method of claim 27 wherein said predefined triggering distance is equal to said minimum critical distance.
29. The method of claim 27 wherein said predefined triggering distance less than said target displacement distance.
30. The method of claim 27 wherein said identifying of said maximum operating jerk value in step (a) includes evaluating the differential of said acceleration curve over a continuous time period dependent on the shape of said acceleration curve, and setting said maximum operating jerk value equal to the largest magnitude of the differential of said acceleration curve over said continuous time period.
31. The method of claim 30 wherein said continuous time period is one of an acceleration stage when said acceleration curve has positive values and a deceleration stage when said acceleration curve has negative values.
32. The method of claim 31 wherein said acceleration curve is a continuous curve having one acceleration stage and one deceleration stage.
33. The method of claim 32 wherein said deceleration stage is the inverse of said acceleration stage.
34. The method of claim 32 wherein said jerk reduction sequence further includes: c) modifying said velocity curve by setting said velocity magnitude parameter equal to a second peak velocity value, said second peak velocity value being selected such that the combination of said velocity curve and said modified acceleration curve result in jerk parameters continuously not larger than said maximum operating jerk value over said predefined triggering distance.
35. The method of claim 34 wherein said second peak velocity value is proportional to a calculated transition velocity obtained by following sequence steps (i) to (iv), setting said displacement parameter equal to said transition triggering distance, and evaluating for the velocity variable, wherein the evaluated variable is said calculated transition velocity.
36. The method of claim 35 wherein said second peak velocity value is substantially equal said calculated transition velocity multiplied by a ratio quantity raised to a predefined power other than zero and one, wherein ratio quantity is the ratio of said target displacement distance to said transition triggering distance.
37. The method of claim 36 wherein said predetermined power is two-thirds.
38. The method of claim 34 wherein said second peak velocity value is proportional to the ratio of said target displacement distance to said transition triggering distance.
39. The method of claim 27 wherein said second peak acceleration value is proportional to a predefined factor, said predefined factor including a ratio of said target displacement distance to said predefined triggering distance.
40. The method of claim 39 wherein said predefined factor further includes said ratio raised to a predefined power.
41. The method of claim 40 wherein said predefined power is one-third.
42. The method of claim 41 wherein said second peak acceleration value is substantially equal to said predetermined maximum acceleration value multiplied by said predefined factor.
43. The method of claim 42 wherein said acceleration curve is one of a sinusoidal curve and a triangular curve.
44. The method of claim 42 wherein said acceleration curve has a ramping up stage characterized by a first sinusoidal shape, a flat plateau, and a ramping down stage characterized by a second sinusoidal shape.
45. The method of claim 27 wherein said jerk reduction sequence further includes: c) modifying said velocity curve by setting said velocity magnitude parameter equal to a second peak velocity value, said second peak velocity value being selected such that the combination of said velocity curve and said modified acceleration curve result in jerk parameters continuously not larger than said maximum operating jerk value over said predefined triggering distance.
46. The method of claim 45 wherein said second peak velocity value is proportional to the magnitude of said velocity curve at the upper most limit of said predefined triggering distance.
47. The method of claim 46 wherein said second peak velocity value is substantially equal to the magnitude of said velocity curve at the upper most limit of said predefined triggering distance multiplied by a ratio quantity raised to a predefined power other than zero and one, wherein said ratio quantity is the ratio of said target displacement distance to said predefined triggering distance.
48. The method of claim 47 wherein said predetermined power is two-thirds.
49. The method of claim 27 wherein said predefined triggering distance is smaller than said minimum critical distance and said motion modification procedure includes the execution of an acceleration control sequence non-concurrent with said jerk reduction sequence, said acceleration control sequence being executed if said target distance is not smaller than said triggering distance, said acceleration control sequence including: a) defining a second peak velocity value as the highest magnitude achievable along said velocity curve while following said acceleration curve for an acceleration distance set to half said target displacement distance; b) reassigning said second peak velocity value to said velocity magnitude parameter.
50. The method of claim 49 , wherein said second peak velocity value is smaller than said predefined maximum velocity value.
51. The method of claim 49 wherein said acceleration control sequence further includes setting said acceleration magnitude parameter equal to said predetermined maximum acceleration value.
52. The method of claim 27 wherein said predefined triggering distance is smaller than said minimum critical distance and said motion modification procedure includes the execution of an acceleration control sequence non-concurrent with said jerk reduction sequence, said acceleration control sequence being executed during the distance from said minimum critical distance to a transition point defined as the upper most point of said triggering distance, said transition point being the transition from said acceleration control sequence to said jerk control sequence, said acceleration control sequence including: integrating said velocity curve to create a displacement function defined as a displacement parameter equal to the integral of said velocity curve; evaluating said displacement function over a continuous time period dependent on the shape of said acceleration curve to obtain a displacement measure; re-interpreting said displacement measure in terms of said displacement parameter, said predetermined maximum acceleration value, said predetermined maximum velocity value, and said continuous time period; substituting a velocity variable in place of said predetermined maximum velocity value; solving said re-interpreted displacement measure in terms of said velocity variable; setting said displacement parameter equal to said target displacement distance and evaluating for said velocity variable; setting said velocity magnitude parameter equal to said velocity variable.
53. The method of claim 52 wherein said displacement measure is doubled prior to being re-interpreted.
54. The method of claim 52 wherein said continuous time period is one of an acceleration stage when said acceleration curve has positive values and a deceleration stage when said acceleration curve has negative values.
55. The method of claim 27 further including setting said acceleration magnitude parameter equal to said predetermined maximum acceleration value and setting said velocity magnitude parameter equal to said predetermined maximum velocity value in response to the comparison of said target displacement distance to said minimum critical distance indicating that said displacement distance is not smaller than said minimum critical distance.
56. The method of claim 27 wherein said predefined triggering distance is a fraction of said minimum critical distance determined by a user specified option.
57. A motion control method comprising: defining a continuous acceleration curve having an acceleration stage and a deceleration stage and being at least partially characterized by an acceleration magnitude parameter, said acceleration magnitude parameter being a maximum operating peak value of said acceleration curve; defining a velocity curve having a shape generally determined by the integral of said acceleration curve and being at least partially characterized by a velocity magnitude parameter, said velocity magnitude parameter being a maximum operating peak value of said velocity curve; determining a minimum critical distance by setting said acceleration magnitude parameter equal to a predetermined maximum acceleration value, setting said velocity magnitude parameter equal to a predetermined maximum velocity value, and defining said minimum critical distance as twice the displacement distance required to reach the velocity of said velocity magnitude parameter along said velocity while following said acceleration curve; receiving displacement distance instructions including sufficient data for determining a target displacement distance; comparing said target displacement distance to said minimum critical distance; initiating a motion modification procedure in response to said target displacement distance being smaller than said minimum critical distance, said motion modification procedure being effective for comparing said target displacement distance to a transition triggering distance and initiating an acceleration control sequence in response to said displacement distance not being smaller than said transition triggering distance and initiating a jerk reduction sequence in response to said displacement distance being smaller than said transition triggering distance, wherein; said acceleration control sequence includes: i) integrating said velocity curve to create a displacement function defined as a displacement parameter equal to the integral of said velocity curve; ii-1) evaluating said displacement function to obtain a displacement measure of the distance required to complete one acceleration stage and one deceleration stage of said acceleration curve; ii-2) re-interpreting said displacement measure in terms of at least said displacement parameter, said predetermined maximum acceleration value, and said predetermined maximum velocity value; iii) substituting a velocity variable in place of said predetermined maximum velocity value; iv) solving said re-interpreted displacement measure in terms of said velocity variable; v) setting said displacement parameter equal to said target displacement distance and evaluating for said velocity variable; vi) setting said velocity magnitude parameter equal to the evaluated velocity variable; and said jerk reduction sequence includes: a) identifying a maximum operating jerk value as the differential of said acceleration curve evaluated at the upper most limit of said transition triggering distance; b) modifying said acceleration curve by setting said acceleration magnitude parameter equal to a second peak acceleration value, said second peak acceleration value being selected such that the differential of said modified acceleration curve maintains a magnitude not larger than said maximum operating jerk value over said predefined triggering distance.
58. The method of claim 57 wherein said acceleration control sequence further includes setting said acceleration magnitude parameter equal to said predetermined maximum acceleration value.
59. The method of claim 57 further including setting said acceleration magnitude parameter equal to said predetermined maximum acceleration value and setting said velocity magnitude parameter equal to said predetermined maximum velocity value in response to said target displacement distance not being smaller than said minimum critical distance.
60. The method of claim 57 wherein said identifying of said maximum operating jerk value in step (a) includes evaluating the differential of said acceleration curve over a continuous time period spanning one of said acceleration stage and deceleration stage of said acceleration curve, and setting said maximum operating jerk value equal to the largest magnitude of the differential of said acceleration curve over said continuous time period.
61. The method of claim 57 wherein said deceleration stage is the inverse of said acceleration stage.
62. The method of claim 57 wherein said second peak acceleration value in step (b) is proportional to a predefined factor, said predefined factor including a ratio of said target displacement distance to said transition triggering distance.
63. The method of claim 62 wherein said predefined factor further includes said ratio raised to a predefined power.
64. The method of claim 63 wherein said predefined power is one-third.
65. The method of claim 64 wherein said second peak acceleration value is substantially equal to said predetermined maximum acceleration value multiplied by said predefined factor.
66. The method of claim 65 wherein said acceleration curve is one of a sinusoidal curve and a triangular curve.
67. The method of claim 65 wherein said acceleration curve has a ramping up stage characterized by a first sinusoidal shape, a flat plateau, and a ramping down stage characterized by a second sinusoidal shape.
68. The method of claim 57 wherein said transition triggering distance is a fraction of said minimum critical distance determined by a user specified option.
69. A motion control system for a motion actuating apparatus, said system comprising: a first processing block for selecting an acceleration curve at least partially characterized by an acceleration magnitude parameter, said acceleration magnitude parameter being a maximum operating peak value of said acceleration curve; a second processing block for selecting a velocity curve at least partially characterized by a velocity magnitude parameter, said velocity magnitude parameter being a maximum operating peak value of said velocity curve; a third processing block for determining a minimum critical distance by setting said acceleration magnitude parameter equal to a predetermined maximum acceleration value, setting said velocity magnitude parameter equal to a predetermined maximum velocity value, and determining said minimum critical distance as twice the displacement distance required to reach the velocity of said velocity magnitude parameter along said velocity curve while being accelerated according to said acceleration curve; a control input for receiving displacement distance instructions including sufficient data for determining a target displacement distance; a comparator block for comparing said target displacement distance to said minimum critical distance; a velocity and acceleration determining block for initiating a motion modification procedure when said target displacement distance is smaller than said minimum critical distance, said motion modification procedure including the execution of a jerk reduction sequence when said target displacement distance is less then a predefined triggering distance, said jerk reduction sequence including: a) identifying a maximum operating jerk value as the differential of said acceleration curve evaluated at the upper most limit of said triggering distance; b) modifying said acceleration curve by setting said acceleration magnitude parameter equal to a second peak acceleration value, said second peak acceleration value being selected such that the differentiation of said modified acceleration curve maintains a magnitude not larger than said maximum operating jerk value over said predefined triggering distance.
70. The system of claim 69 wherein said predefined triggering distance is equal to said minimum critical distance.
71. The system of claim 69 wherein said predefined triggering distance less than said target displacement distance.
72. The system of claim 69 wherein said identifying of said maximum operating jerk value in step (a) includes evaluating the differential of said acceleration curve over a continuous time period dependent on the shape of said acceleration curve, and setting said maximum operating jerk value equal to the largest magnitude of the differential of said acceleration curve over said continuous time period.
73. The system of claim 72 wherein said continuous time period is one of an acceleration stage when said acceleration curve has positive values and a deceleration stage when said acceleration curve has negative values.
74. The system of claim 73 wherein said acceleration curve is a continuous curve having one acceleration stage and one deceleration stage.
75. The system of claim 74 wherein said deceleration stage is the inverse of said acceleration stage.
76. The system of claim 69 wherein said second peak acceleration value is proportional to a predefined factor, said predefined factor including a ratio of said target displacement distance to said predefined triggering distance.
77. The system of claim 76 wherein said predefined factor further includes said ratio raised to a predefined power.
78. The system of claim 77 wherein said predefined power is one-third.
79. The system of claim 78 wherein said second peak acceleration value is substantially equal to said predetermined maximum acceleration value multiplied by said predefined factor.
80. The system of claim 79 wherein said acceleration curve is one of a sinusodial curve and a triangular curve.
81. The system of claim 79 wherein said acceleration curve has a ramping up stage characterized by a first sinusoidal shape, a flat plateau, and a ramping down stage characterized by a second sinusoidal shape.
82. The system of claim 69 wherein said jerk reduction sequence further includes: c) modifying said velocity curve by setting said velocity magnitude parameter equal to a second peak velocity value, said second peak velocity value being selected such that the combination of said velocity curve and said modified acceleration curve result in jerk parameters continuously not larger than said maximum operating jerk value over said predefined triggering distance.
83. The system of claim 82 wherein said second peak velocity value is proportional to the magnitude of said velocity curve at the upper most limit of said predefined triggering distance.
84. The system of claim 83 wherein said second peak velocity value is substantially equal to the magnitude of said velocity curve at the upper most limit of said predefined triggering distance multiplied by a ratio quantity raised to a predefined power other than zero and one, wherein said ratio quantity is the ratio of said target displacement distance to said predefined triggering distance.
85. The system of claim 84 wherein said predetermined power is two-thirds.
86. The system of claim 69 wherein said predefined triggering distance is smaller than said minimum critical distance and said motion modification procedure includes the execution of an acceleration control sequence non-concurrent with said jerk reduction sequence, said acceleration control sequence being executed if said target distance is not smaller than said triggering distance, said acceleration control sequence including: a) defining a second peak velocity value as the highest magnitude achievable along said velocity curve while following said acceleration curve for an acceleration distance set to half said target displacement distance; b) reassigning said second peak velocity value to said velocity magnitude parameter.
87. The system of claim 86 wherein said second peak velocity value is smaller than said predefined maximum velocity value.
88. The system of claim 86 wherein said acceleration control sequence further includes setting said acceleration magnitude parameter equal to said predetermined maximum acceleration value.
89. The system of claim 69 wherein said predefined triggering distance is smaller than said minimum critical distance and said motion modification procedure includes the execution of an acceleration control sequence non-concurrent with said jerk reduction sequence, said acceleration control sequence being executed during the distance span from said minimum critical distance to a transition point set to the upper most point of said triggering distance, said transition point being the transition from said acceleration control sequence to said jerk control sequence, said acceleration control sequence including: integrating said velocity curve to create a displacement function defined as a displacement parameter equal to the integral of said velocity curve; evaluating said displacement function over a continuous time period dependent on the shape of said acceleration curve to obtain a displacement measure; re-interpreting said displacement measures in terms of said displacement parameter, said predetermined maximum acceleration value, said predetermined maximum velocity value, and said continuous time period; substituting a velocity variable in place of said predetermined maximum velocity value; solving said re-interpreted displacement measure in terms of said velocity variable; setting said displacement parameter equal to said target displacement distance and evaluating for said velocity variable; setting said velocity magnitude parameter equal to said velocity variable.
90. The system of claim 89 wherein said displacement measure is doubled prior to being re-interpreted.
91. The system of claim 89 wherein said continuous time period is one of an acceleration stage when said acceleration curve has positive values and a deceleration stage when said acceleration curve has negative values.
92. The system of claim 69 further including setting said acceleration magnitude parameter equal to said predetermined maximum acceleration value and setting said velocity magnitude parameter equal to said predetermined maximum velocity value in response to the comparison of said target displacement distance to said minimum critical distance indicating that said displacement distance is not smaller than said minimum critical distance.
93. The system of claim 69 wherein said predefined triggering distance is a fraction of said minimum critical distance determined by a user specified option.
94. A motion control system for a motion actuating apparatus, said system comprising: a first processing block selecting a continuous acceleration curve having an acceleration stage and a deceleration stage and being at least partially characterized by an acceleration magnitude parameter, said acceleration magnitude parameter being a maximum operating peak value of said acceleration curve; a second processing block defining a velocity curve having a shape generally determined by the integral of said acceleration curve and being at least partially characterized by a velocity magnitude parameter, said velocity magnitude parameter being a maximum operating peak value of said velocity curve; a third processing block for determining a minimum critical distance by setting said acceleration magnitude parameter equal to a predetermined maximum acceleration value, setting said velocity magnitude parameter equal to a predetermined maximum velocity value, and defining said minimum critical distance as twice the displacement distance required to reach the velocity of said velocity magnitude parameter along said velocity while following said acceleration curve; a control input for receiving displacement distance instructions including sufficient data for determining a target displacement distance; a comparator block for comparing said target displacement distance to said minimum critical distance; a velocity and acceleration determining block for initiating a motion modification procedure in response to said target displacement distance being smaller than said minimum critical distance, said motion modification procedure being effective for comparing said target displacement distance to a transition triggering distance and initiating an acceleration control sequence in response to said displacement distance not being smaller than said transition triggering distance and initiating a jerk reduction sequence in response to said displacement distance being smaller than said transition triggering distance, wherein; said acceleration control sequence includes: i) integrating said velocity curve to create a displacement function defined as a displacement parameter equal to the integral of said velocity curve; ii-1) evaluating said displacement function to obtain a displacement measure of the distance required to complete one acceleration stage and one deceleration stage of said acceleration curve; ii-2) re-interpreting said displacement measure in terms of at least said displacement parameter, said predetermined maximum acceleration value, and said predetermined maximum velocity value; iii) substituting a velocity variable in place of said predetermined maximum velocity value; iv) solving said re-interpreted displacement measure in terms of said velocity variable; v) setting said displacement parameter equal to said target displacement distance and evaluating for said velocity variable; vi) setting said velocity magnitude parameter equal to the evaluated velocity variable; and said jerk reduction sequence includes: a) identifying a maximum operating jerk value as the differential of said acceleration curve evaluated at the upper most limit of said transition triggering distance; b) modifying said acceleration curve by setting said acceleration magnitude parameter equal to a second peak acceleration value, said second peak acceleration value being selected such that the differential of said modified acceleration curve maintains a magnitude not larger than said maximum operating jerk value over said predefined triggering distance.
95. The system of claim 94 wherein said acceleration control sequence further includes setting said acceleration magnitude parameter equal to said predetermined maximum acceleration value.
96. The system of claim 94 wherein said velocity and acceleration determining block is further effective for setting said acceleration magnitude parameter equal to said predetermined maximum acceleration value and setting said velocity magnitude parameter equal to said predetermined maximum velocity value in response to said target displacement distance not being smaller than said minimum critical distance.
97. The system of claim 94 wherein said identifying of said maximum operating jerk value in step (a) includes evaluating the differential of said acceleration curve over a continuous time period spanning one of said acceleration stage and deceleration stage of said acceleration curve, and setting said maximum operating jerk value equal to the largest magnitude of the differential of said acceleration curve over said continuous time period.
98. The system of claim 94 wherein said deceleration stage is the inverse of said acceleration stage.
99. The system of claim 94 wherein said second peak acceleration value in step (b) is proportional to a predefined factor, said predefined factor including a ratio of said target displacement distance to said transition triggering distance.
100. The system of claim 99 wherein said predefined factor further includes said ratio raised to a predefined power.
101. The system of claim 100 wherein said predefined power is one-third.
102. The system of claim 101 wherein said second peak acceleration value is substantially equal to said predetermined maximum acceleration value multiplied by said predefined factor.
103. The system of claim 102 wherein said acceleration curve is one of a sinusoidal curve and a triangular curve.
104. The system of claim 102 wherein said acceleration curve has a ramping up stage characterized by a first sinusoidal shape, a flat plateau, and a ramping down stage characterized by a second sinusoidal shape.
105. The system of claim 94 wherein said jerk reduction sequence further includes: c) modifying said velocity curve by setting said velocity magnitude parameter equal to a second peak velocity value, said second peak velocity value being selected such that the combination of said velocity curve and said modified acceleration curve result in jerk parameters continuously not larger than said maximum operating jerk value over said predefined triggering distance.
106. The system of claim 105 wherein said second peak velocity value is proportional to a calculated transition velocity obtained by following sequence steps (i) to (iv), setting said displacement parameter equal to said transition triggering distance, and evaluating for the velocity variable, wherein the evaluated variable is said calculated transition velocity.
107. The system of claim 106 wherein said second peak velocity value is substantially equal said calculated transition velocity multiplied by a ratio quantity raised to a predefined power other than zero and one, wherein ratio quantity is the ratio of said target displacement distance to said transition triggering distance.
108. The system of claim 107 wherein said predetermined power is two-thirds.
109. The system of claim 105 wherein said second peak velocity value is proportional to the ratio of said target displacement distance to said transition triggering distance.
110. The system of claim 94 wherein said transition triggering distance is a fraction of said minimum critical distance determined by a user specified option.
Cooperative Patent Classification codes for this invention. Click any code to explore related patents in that topic.
April 13, 2001
April 22, 2003
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